WO2020039538A1

WO2020039538A1 - Communication device, communication method, and communication program

Info

Publication number: WO2020039538A1
Application number: PCT/JP2018/031135
Authority: WO
Inventors: 崇章村岡; 和宏村山
Original assignee: 三菱電機株式会社
Priority date: 2018-08-23
Filing date: 2018-08-23
Publication date: 2020-02-27
Also published as: CN112585913A; DE112018007845T5; TW202010286A; US20210168057A1; WO2020039607A1; US11463369B2; JPWO2020039607A1; JP6808104B2

Abstract

This communication device (10) communicates by means of a network in which Time-Sensitive Networking (TSN) technology is used. A timeslot management unit (21) notifies that the timeslot in the TSN technology has changed. If received data received from another communication device (10) is not the transmission data transmitted in the current timeslot, then a data receiving unit (23) stores the received data in a received data storage unit (25). If the timeslot management unit (21) has notified that the timeslot has changed, then the data receiving unit (23) passes to a reception task (27) the received data which is transmission data that was stored in the received data storage unit (25) and that was transmitted in a time slot after the changing.

Description

Communication device, communication method, and communication program

<< The present invention relates to a communication technology in a network using TSN (Time-Sensitive @ Networking) technology.

In recent years, TSN technologies such as IEEE 802.1Qbv and IEEE 802.1AS have been applied to communication performed in a control network.
In the TSN technology, a communication cycle is divided into a plurality of time slots (hereinafter, TS). In each TS, only data of the assigned type is transmitted. A TS is often assigned for each protocol. For example, TS0 is assigned to IP communication, TS1 is assigned to FA network communication, and so on.

(4) On the transmission side, each data is stored in the transmission queue of the assigned TS, and when the time at which each TS is assigned is reached, the data in the queue is sequentially transmitted. The queue is provided by IEEE 802.1Qbv. On the receiving side, when data is received, it is passed to the receiving task without being stored in the queue.

Patent Literature 1 discloses that a task that performs high-priority communication has a high priority, and a task that performs low-priority communication has a low priority. It is described that priority is given to this.

JP-A No. 11-074946

データ If data is transmitted near the end of the time allocated to each TS, or if data is transmitted over a low-speed network, data may arrive at the receiving side at the time of the next TS. IEEE 802.1Qbv provides a transmit queue but does not provide a receive queue. Therefore, the data is transferred to the receiving task other than the assigned TS and the data is processed. Then, the processing of the task that wants to transmit data to the originally assigned TS may be hindered, and the data may not be transmitted at the desired transmission cycle.

場合 When the method of Patent Document 1 is used, communication of a task set with a high priority can be transmitted every period. However, a delay occurs in the processing of a task with a low priority. As a result, there is a possibility that transmission and reception of data allocated to the time slot cannot be performed.

The present invention aims to enable each task to hold a transmission cycle.

The communication device according to the present invention includes:
A communication device that communicates on a network using TSN (Time-Sensitive Networking) technology,
A time slot management unit for notifying that the time slot in the TSN technology has been switched;
If the received data received from another communication device is not the transmitted data transmitted in the current time slot, the received data is stored in the received data storage unit, and the time slot is switched by the time slot management unit. And a data receiving unit that transfers the received data, which is the transmission data transmitted in the switched time slot, stored in the received data storage unit to the reception task when the notification is transmitted.

According to the present invention, the data receiving unit stores the received data in the received data storage unit when the received data is not the transmission data transmitted in the current time slot. Then, when the time slot is switched, the data receiving unit passes reception data, which is transmission data transmitted in the switched time slot, to the reception task.
Thus, the processing of data transmitted in the current time slot is not hindered by the influence of the processing of data transmitted in another time slot. As a result, each task can hold the transmission cycle.

FIG. 1 is a configuration diagram of a communication system 100 according to a first embodiment. FIG. 2 is a functional configuration diagram of the communication device 10 according to the first embodiment. 5 is a flowchart of an operation of the time slot management unit 21 according to the first embodiment. 5 is a flowchart of the operation of the data transmission unit 22 according to the first embodiment. 5 is a flowchart of the operation of the data receiving unit 23 according to the first embodiment. The figure which shows the example of the periodic communication at the time of applying TSN technology. The figure which shows the example of the periodic communication at the time of applying TSN technology. The figure which shows the example of the periodic communication at the time of applying TSN technology. 13 is a flowchart of the operation of the data receiving unit 23 according to the second embodiment. FIG. 9 is a functional configuration diagram of a communication device 10 according to a third embodiment. 15 is a flowchart of the operation of the time slot management unit 21 according to the third embodiment. 13 is a flowchart of the operation of the priority switching unit 30 according to the third embodiment. 15 is a flowchart of the operation of the time slot management unit 21 according to the fourth embodiment. 15 is a flowchart of the operation of the priority switching unit 30 according to the fourth embodiment.

Embodiment 1 FIG.
*** Configuration description ***
The configuration of the communication system 100 according to the first embodiment will be described with reference to FIG.
The communication system 100 includes a plurality of communication devices 10. Each communication device 10 is connected via a network 200. The network 200 is a network using the TSN technology. Each communication device 10 communicates with another communication device 10 via the network 200.

Each communication device 10 includes hardware of a processor 11, a memory 12, and a network interface 13. The processor 11 is connected to other hardware via a signal line, and controls the other hardware.

The processor 11 is an IC (Integrated Circuit) that performs processing. The processor 11 is, as a specific example, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit).

The memory 12 is a storage device for storing data. The memory 12 is, for example, an SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory). The memory 12 is a portable memory such as an SD (registered trademark, Secure Digital) memory card, a CF (CompactFlash, registered trademark), a NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, and a DVD (Digital Versatile Disk). It may be a recording medium.

The network interface 13 is an interface for connecting to the network 200. The network interface 13 is a port of Ethernet (registered trademark) or a USB (Universal Serial Bus) as a specific example.

The functional configuration of the communication device 10 according to the first embodiment will be described with reference to FIG.
The communication device 10 includes a time slot management unit 21, a data transmission unit 22, a data reception unit 23, a transmission data storage unit 24, a reception data storage unit 25, a plurality of transmission tasks 26, and a plurality of reception tasks 27. And
The transmission data storage unit 24 has an entry for each TS, and each entry is provided with a transmission queue 28. In FIG. 2, the transmission data storage unit 24 has an entry for TS0, an entry for TS1, an entry for TS2,..., And a transmission queue 28 is provided for each entry. Further, the reception data storage unit 25 has an entry for each TS, and each entry is provided with a reception queue 29. In FIG. 2, the reception data storage unit 25 has an entry for TS0, an entry for TS1, an entry for TS2,..., And a reception queue 29 is provided for each entry.

The functions of the time slot management unit 21, data transmission unit 22, data reception unit 23, transmission data storage unit 24, reception data storage unit 25, multiple transmission tasks 26, and multiple reception tasks 27 are as follows: Implemented by software. The memory 12 stores programs for implementing these functions. This program is read and executed by the processor 11. Thereby, these functions are realized.
Further, the functions of the transmission queue 28 and the reception queue 29 are realized by the memory 12.

*** Explanation of operation ***
The operation of the communication device 10 according to the first embodiment will be described with reference to FIGS.
The operation of the communication device 10 according to the first embodiment corresponds to the communication method according to the first embodiment. The operation of the communication device 10 according to the first embodiment corresponds to the processing of the communication program according to the first embodiment.

As a premise of the operation described below, when transmission data to be transmitted to another communication device 10 occurs, each transmission task 26 passes the transmission data to the transmission data storage unit 24. Then, the transmission data storage unit 24 stores the transmission data in the transmission task 26 of the transfer source or in the transmission queue 28 provided in the entry for the TS corresponding to the transmission data. Further, when receiving data is passed from the data receiving unit 23, each receiving task 27 executes a process using the received receiving data.

With reference to FIG. 3, an operation of time slot management section 21 according to Embodiment 1 will be described.
In step S11, the time slot management unit 21 acquires a time. In step S12, the time slot management section 21 determines whether or not the TS switching time has passed. When the time for switching the TS has passed, the time slot management unit 21 advances the process to step S13. On the other hand, when the time for switching the TS has not passed, the time slot management unit 21 returns the process to step S11 and acquires the time again.
In step S13, the time slot management unit 21 notifies the data transmission unit 22 that the TS has been switched. As a result, the time slot management unit 21 causes the data transmission unit 22 to transmit the transmission data of the switched TS. In step S14, the data transmission unit 21 notifies the data reception unit 23 that the TS has been switched. As a result, the time slot management unit 21 passes the received data of the TS after the switching to the data reception unit 23 to the reception task 27.

With reference to FIG. 4, the operation of data transmitting section 22 according to the first embodiment will be described.
In step S21, the data transmission unit 22 receives a notification from the time slot management unit 21. In step S22, the data transmission unit 22 determines whether the notification from the time slot management unit 21 is a notification that the TS has been switched. If the notification is a notification that the notification that the TS has been switched has been received, the data transmission unit 22 advances the process to step S23. On the other hand, when the notification is not a notification that the TS has been switched, the data transmission unit 22 ends the process.
In step S23, the data transmission unit 22 transmits the transmission data stored in the transmission queue 28 provided in the target TS entry to the destination communication device 10 for the switched TS. Note that the data transmission unit 22 stores new transmission data in the transmission queue 28 provided in the entry for the target TS until the time slot management unit 21 again notifies that the TS has been switched. The stored transmission data is transmitted to the network 200 to the destination communication device 10.

With reference to FIG. 5, the operation of data receiving section 23 according to the first embodiment will be described.
In step S31, the data receiving unit 23 receives a transmission data arrival notification from the network interface 13, or receives a notification from the time slot management unit 21 that the TS has been switched. The transmission data arrival notification is a hardware interrupt or the like. When receiving the transmission data arrival notification, the data receiving unit 23 receives the transmission data as reception data.
In step S32, the data receiving unit 23 determines whether the notification of the arrival of the transmission data has been received in step S31 or whether the notification that the TS has been switched has been received from the time slot management unit 21. When the data receiving unit 23 receives the transmission data arrival notification, the process proceeds to step S33. On the other hand, when the data receiving unit 23 receives a notification that the TS has been switched from the time slot management unit 21, the process proceeds to step S36.

In step S33, the data receiving unit 23 determines whether or not the received data is transmission data transmitted to the current TS. If the received data is the transmission data transmitted to the current TS, the data receiving unit 23 proceeds with the process to step S34. On the other hand, when the received data is not the transmission data transmitted to the current TS, the data receiving unit 23 proceeds with the process to step S35.
In step S34, the data receiving unit 23 passes the received data to the corresponding receiving task 27. On the other hand, in step S35, the data receiving unit 23 stores the received data in the received data storage unit 25. Specifically, the data receiving unit 23 passes the received data to the received data storage unit 25. Then, the reception data storage unit 25 stores the reception data in the reception queue 29 provided in the entry for TS corresponding to the reception data.

In step S36, the data receiving unit 23 passes the reception data, which is the transmission data transmitted to the switched TS and stored in the reception data storage unit 25, to the corresponding reception task 27. That is, the data reception unit 23 transfers the reception data stored in the reception queue 29 provided in the switched TS entry to the corresponding reception task 27.

*** Effect of Embodiment 1 ***
As described above, in the communication device 10 according to the first embodiment, the data receiving unit 23 stores the received data in the received data storage unit 25 when the received data is not the transmission data transmitted to the current TS. deep. Then, when the TS is switched, the data receiving unit 23 passes reception data, which is transmission data transmitted in the time slot after the switching, to the reception task 27.
This prevents the processing of the transmission data transmitted in the current time slot from being hindered by the influence of the processing of the transmission data transmitted in another time slot. As a result, each task can hold the transmission cycle.

In the conventional method, when receiving the received data, the data receiving unit passes the received data to the receiving task even if the received data is not the transmission data transmitted to the current TS. Then, the reception task performs processing based on the received reception data. As a result, the processing of the transmission task and the processing of the reception task, which perform processing relating to data transmitted and received in the current TS, are hindered.
FIG. 6 shows an example in which a 30-second periodic communication is performed, this period is divided into three TSs, and a time is allocated to each TS for 10 seconds. In this example, the data held by the transmission task 0 is transmitted by TS0. Therefore, when this data is inserted into the transmission queue, it is transmitted as it is because the insertion time (00:00:06) is the time in TS0. The data of the transmission task 1 is transmitted by TS1. The time (00:00:31) at which this data was inserted into the transmission queue is still a time slot of TS0. Therefore, this data is temporarily suspended in the transmission queue, and is transmitted after 00:00:40, which is the time allocated to TS1.
Here, as shown in FIG. 7, when data is transmitted around the end of the time allocated to each TS, or when data is transmitted over a low-speed network, the data is transmitted to the receiving side at the time of the next TS. May arrive at. For example, in FIG. 8, when the transmission task 0 transmits data at the end of the time allocated to TS0, the time received by the reception task is the time allocated to TS1. At this time, if the receiving task occupies CPU resources, the transmitting task 1 that wants to transmit data in TS1 cannot operate, and the insertion of data into the transmission queue of TS1 is delayed. If the transmission task 1 is to be transmitted every period in the time slot of TS1, it will not be possible to satisfy the requirements of the system.
If the received data is not the transmitted data transmitted to the current TS, the communication device 10 according to the first embodiment stores the received data in the received data storage unit 25 and is not passed to the reception task 27. Therefore, the processing of the transmission data transmitted in the other timeslots does not hinder the processing of the transmission data transmitted in the current timeslot.

*** Other configuration ***
<Modification 1>
In the first embodiment, a time slot management unit 21, a data transmission unit 22, a data reception unit 23, a transmission data storage unit 24, a reception data storage unit 25, a plurality of transmission tasks 26, a plurality of reception tasks 27 is realized by software. However, these functions may be realized by hardware.
When these functions are realized by hardware, the communication device 10 includes an electronic circuit instead of the processor 11. The electronic circuit is a dedicated circuit for realizing these functions.

As the electronic circuit, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA (Gate Array), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array) are assumed. Is done.
Each functional component may be implemented by one electronic circuit, or each functional component may be implemented by being distributed to a plurality of electronic circuits.

<Modification 2>
As a second modification, some of the functional components may be implemented by hardware, and other functional components may be implemented by software.

(4) The processor 11 and the electronic circuit are referred to as a processing circuit. That is, the function of each functional component is realized by the processing circuit.

Embodiment 2 FIG.
In the second embodiment, when the processing time required for the receiving task 27 to process the received data is longer than the current remaining time of the TS, the data receiving unit 23 does not pass the received data to the It differs from the first embodiment in that it is stored in the storage unit 25. In the second embodiment, the different points will be described, and the description of the same points will be omitted.

*** Explanation of operation ***
With reference to FIG. 9, an operation of data receiving section 23 according to the second embodiment will be described.
The processing from step S41 to step S43 is the same as the processing from step S31 to step S33 in FIG. The processing from step S46 to step S48 is the same as the processing from step S34 to step S36 in FIG.
In step S43, if the received data is the transmission data transmitted to the current TS, the data receiving unit 23 proceeds with the process to step S44. On the other hand, when the received data is not the transmission data transmitted to the current TS, the data receiving unit 23 proceeds with the process to step S47.

In step S44, the data receiving unit 23 acquires the remaining time of the current TS. Here, the time of the TS is managed by the time slot management unit 21. Therefore, the data receiving unit 23 obtains the current remaining time of the TS by inquiring the time slot managing unit 21.
In step S45, the data receiving unit 23 determines whether the processing time required for the receiving task 27 to process the received data is longer than the current remaining time of the TS. The processing time required for the reception task 27 to process the received data is statistically obtained by preliminary measurement or specified by the user. If the processing time is equal to or less than the remaining time, the data receiving unit 23 advances the processing to step S46. On the other hand, when the processing time is longer than the remaining time, the data receiving unit 23 advances the processing to Step S47.

That is, the data receiving unit 23 passes the received data to the receiving task 27 when the processing time is shorter than the remaining time, and stores the received data in the received data storage unit 25 when the processing time is longer than the remaining time. .

*** Effect of Embodiment 2 ***
As described above, the communication device 10 according to the second embodiment stores the received data in the received data storage unit 25 when the processing time is longer than the remaining time. Accordingly, it is possible to prevent the processing of the receiving task 27 from being completed in the TS and hindering the processing of the next TS.

Embodiment 3 FIG.
In the third embodiment, transmission of transmission data to be transmitted to the current TS when the remaining time of the current TS is shorter than the transmission time from transmission of the transmission data to arrival at another communication device 10. The difference from the first and second embodiments is that the priority of the process is lowered. In the third embodiment, the different points will be described, and the description of the same points will be omitted.

*** Configuration description ***
The functional configuration of the communication device 10 according to the third embodiment will be described with reference to FIG.
The communication device 10 differs from the communication devices 10 according to the first and second embodiments in that the communication device 10 includes a priority switching unit 30.

*** Explanation of operation ***
As a premise of the operation described below, a priority is set for the transmission task 26, and the transmission task 26 having a higher priority performs processing with higher priority.

Referring to FIG. 11, an operation of time slot management section 21 according to Embodiment 3 will be described.
The processing from step S54 to step S57 is the same as the processing from step S11 to step S14 in FIG.

In step S51, the time slot management section 21 acquires the time. In step S52, the time slot management unit 21 determines whether or not the remaining time of the current TS is shorter than the transmission time Δt from when the transmission data is transmitted to when it reaches another communication device 10. If the remaining time is shorter than the transmission time Δt, the time slot management unit 21 advances the processing to step S53. On the other hand, when the remaining time is equal to or longer than the transmission time Δt, the time slot management unit 21 returns the process to step S51 and acquires the time again.

In step 53, the time slot management unit 21 notifies the priority switching unit 30 that the remaining time is shorter than the transmission time Δt. Thereby, the time slot management unit 21 causes the priority switching unit 30 to switch the priority of the transmission process.

The operation of the priority switching unit 30 according to the third embodiment will be described with reference to FIG.
In step S61, the priority switching unit 30 receives a notification from the time slot management unit 21. In step S62, the priority switching unit 30 determines whether the notification from the time slot management unit 21 is a notification that the remaining time of the current TS is shorter than the transmission time Δt. If the notification is a notification that the current remaining time of the TS is shorter than the transmission time Δt, the priority switching unit 30 advances the processing to step S63. On the other hand, when the notification is not a notification that the remaining time of the current TS is shorter than the transmission time Δt, the priority switching unit 30 ends the process.

In step S63, the priority switching unit 30 lowers the priority of the transmission processing of the transmission data to be transmitted to the current TS. Specifically, the priority switching unit 30 lowers the priority of the transmission task 26 that performs transmission processing on the current TS. In step S64, the priority switching unit 30 increases the priority of the transmission processing of the transmission data to be transmitted to the next TS. Specifically, the priority switching unit 30 increases the priority of the transmission task 26 that performs transmission processing on the next TS.
As a result, the transmission task 26 that performs transmission processing on the next TS has higher priority than the transmission task 26 that performs transmission processing on the current TS.

*** Effect of Embodiment 3 ***
As described above, when the remaining time of the current TS is shorter than the transmission time Δt, the communication device 10 according to the third embodiment lowers the priority of the transmission task 26 that performs transmission processing on the current TS. . As a result, the transmission process in which the process is not completed in the current TS is reduced, and it is possible to prevent the process of the next TS from being hindered.

Embodiment 4 FIG.
Embodiment 4 is different from Embodiments 1 to 3 in that, when the TS is switched, the priority of the reception processing of the reception data, which is the transmission data transmitted to the TS before switching, is lowered. In the fourth embodiment, the different points will be described, and the description of the same points will be omitted.
Here, a case where a function is added to the third embodiment will be described. However, it is also possible to add functions to the first and second embodiments.

*** Explanation of operation ***
As a premise of the operation described below, a priority is set for the reception task 27, and the reception task 27 having a higher priority performs processing with priority.

With reference to FIG. 13, the operation of time slot management section 21 according to Embodiment 4 will be described.
The processing from step S71 to step S76 is the same as the processing from step S51 to step S56 in FIG. The processing in step S78 is the same as the processing in step S57 in FIG.

In step S77, the time slot management unit 21 notifies the priority switching unit 30 that the TS has been switched. Thereby, the time slot management unit 21 causes the priority switching unit 30 to switch the priority of the reception process.

The operation of the priority switching unit 30 according to the fourth embodiment will be described with reference to FIG.
The processing in step S81 is the same as the processing in step S61 in FIG. Further, the processing from step S85 to step S86 is the same as the processing from step S63 to step S64 in FIG.

In step S82, the priority switching unit 30 determines whether the notification from the time slot management unit 21 is a notification that the TS has been switched or a notification that the remaining time is shorter than the transmission time Δt. . If the notification is that the TS has been switched, the priority switching unit 30 causes the process to proceed to step S83. On the other hand, if the remaining time is a notification that the remaining time is shorter than the transmission time Δt, the priority switching unit 30 advances the processing to step S85.

In step S83, the priority switching unit 30 lowers the priority of the reception process of the reception data that is the transmission data transmitted to the TS before the switching. Specifically, the priority switching unit 30 lowers the priority of the receiving task 27 that performs the receiving process on the TS before switching. In step S84, the priority switching unit 30 increases the priority of the reception processing of the reception data that is the transmission data transmitted to the TS after the switching. Specifically, the priority switching unit 30 increases the priority of the receiving task 27 that performs the receiving process on the TS after the switching.
As a result, the receiving task 27 that performs the receiving process on the current TS has priority over the receiving task 27 that performs the receiving process on the TS before switching.

*** Effect of Embodiment 4 ***
As described above, when the TS is switched, the communication device 10 according to the fourth embodiment lowers the priority of the reception process of the reception data that is the transmission data transmitted to the TS before the switching. As a result, the reception processing that has not been completed for the previous TS is not executed, and it is possible to prevent the current TS from being interrupted.

10 communication device, 11 processor, 12 memory, 13 network interface, 21 time slot management unit, 22 data transmission unit, 23 data reception unit, 24 transmission data storage unit, 25 reception data storage unit, 26 transmission task, 27 reception task, 28 transmission queue, 29 reception queue, 30 priority switching unit, 100 部 communication system, 200 network.

Claims

A communication device that communicates on a network using TSN (Time-Sensitive Networking) technology,
A time slot management unit for notifying that the time slot in the TSN technology has been switched;
If the received data received from another communication device is not the transmitted data transmitted in the current time slot, the received data is stored in the received data storage unit, and the time slot is switched by the time slot management unit. And a data receiving unit that transfers the received data, which is transmission data transmitted in the switched time slot and stored in the received data storage unit, to a reception task when is notified.
The communication device according to claim 1, wherein the data receiving unit passes the received data to the reception task when the received data is transmission data transmitted in a current time slot.
The data receiving unit, wherein the received data is transmission data transmitted in a current time slot, and a processing time required for the reception task to process the received data is longer than a remaining time of a current time slot. The communication device according to claim 1, wherein in the case, the received data is stored in a received data storage unit.
The data receiving unit, when the received data is transmission data transmitted in the current time slot, and the processing time required for the reception task to process the received data is less than or equal to the remaining time of the current time slot 4. The communication device according to claim 3, wherein the receiving device transfers the received data to the receiving task.
The time slot management unit notifies that the remaining time of the current time slot is shorter than the transmission time from when the transmission data is transmitted to when it reaches another communication device,
The communication device may further include:
A data transmission unit for transmitting transmission data to another communication device, wherein when the time slot management unit notifies that the remaining time is shorter than a transmission time, transmission of transmission data to be transmitted in a current time slot. The communication device according to any one of claims 1 to 4, further comprising a data transmission unit that lowers the priority of processing and increases the priority of transmission processing of transmission data to be transmitted in the next time slot.
The data receiving unit, when notified that the time slot has been switched by the time slot management unit, increases the priority of the reception process of the reception data that is the transmission data transmitted in the time slot after the switching. The communication device according to any one of claims 1 to 5, wherein the priority of reception processing of reception data that is transmission data transmitted in a time slot before switching is reduced.
A communication method for performing communication on a network using TSN (Time-Sensitive Networking) technology,
A time slot management unit notifies that a time slot in the TSN technology has been switched,
The data receiving unit stores the received data in the received data storage unit when the received data received from another communication device is not the transmission data transmitted in the current time slot, and the time slot is switched. A communication method for, when notified, transferring the reception data, which is transmission data transmitted in a switched time slot, stored in the reception data storage unit to a reception task.
A communication program that communicates on a network using TSN (Time-Sensitive Networking) technology,
A time slot management process for notifying that a time slot has been switched in the TSN technology;
If the received data received from another communication device is not the transmitted data transmitted in the current time slot, the received data is stored in the received data storage unit, and the time slot is switched in the time slot management process. Communication program for causing a computer to execute a data reception process of passing the reception data, which is transmission data transmitted in the switched time slot, stored in the reception data storage unit to a reception task when the notification is transmitted. .